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United States Patent | 5,091,685 |
Sorensen ,   et al. | February 25, 1992 |
A shuttle control for a storage and retrieval machine has a supervisory control mounted on the base of the storage and retrieval machine and a shuttle control mounted on the carriage of the storage and retrieval machine. The supervisory control receives shuttle operating commands and information signals and provides operating instruction signals for the shuttle to the shuttle control. The shuttle control receives the operating instruction signals from the supervisory control, produces operating information signals to the supervisory control, and controls the operation of a shuttle motor drive. A circuit having sliding contactors moving with the carriage on vertical slide bars mounted on the mast transmits operating instruction signals and information signals between the supervisory control and the shuttle control at a maximum transmission rate limited by the problems of transmitting the signals through the sliding contactors. Sensors mounted on the carriage of the storage and retrieval machine produce shuttle operating condition indicating signals to the shuttle control at a transmission rate faster that the maximum transmission rate of the circuit. The indicating signals are used by the shuttle control to control the operation of the shuttle motor.
Inventors: | Sorensen; B. Chuck (Salt Lake City, UT); Devroy; Craig A. (Wauwatosa, WI) |
Assignee: | Harnischfeger Engineers, Inc. (Brookfield, WI) |
Appl. No.: | 423907 |
Filed: | October 19, 1989 |
Current U.S. Class: | 318/652; 187/240; 187/262; 318/648; 318/671; 414/273; 414/281 |
Intern'l Class: | H02P 005/06 |
Field of Search: | 318/16,38,139,257,258,274,368,434,648,652,587,671 187/12,17,18,9 E,9 R,8.5,8.41,148 182/2,141,63,148 ;546;631;664;661;662;666;663;665;633;674 414/231,232,273,266,277,276,278,279,280,281,282,283,390,398,391,401,544,547,556 212/184,189,160,232 198/614,855,804,841,588,750 340/901,539,904,685 364/478 254/122,386 |
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